Datasets:
File size: 4,441 Bytes
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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- ur
- robotics
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
This is a partial release of **ForceU-VLA-Data**, a real-world, force-aware embodied ultrasound dataset introduced in the paper [ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning](https://huggingface.co/papers/2608.15009). It integrates visual (RGB and ultrasound), force, and action signals for autonomous ultrasound scanning and currently contains data from 2 of 10 operators (90 trajectories, 5 tasks).
- **Homepage:** [https://github.com/VMVLab/ForceU-VLA](https://github.com/VMVLab/ForceU-VLA)
- **Paper:** [https://huggingface.co/papers/2608.15009](https://huggingface.co/papers/2608.15009)
- **Code:** [https://github.com/VMVLab/ForceU-VLA](https://github.com/VMVLab/ForceU-VLA)
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": "ur",
"total_episodes": 90,
"total_frames": 15527,
"total_tasks": 5,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:90"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"base_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"ultrasound_rgb": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
12
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"fx",
"fy",
"fz",
"tx",
"ty",
"tz"
]
},
"actions": {
"dtype": "float32",
"shape": [
6
],
"names": [
"dx",
"dy",
"dz",
"droll",
"dpitch",
"dyaw"
]
},
"prompt": {
"dtype": "string",
"shape": [
1
],
"names": [
"prompt"
]
},
"us_gt": {
"dtype": "int32",
"shape": [
1
],
"names": [
"us_gt"
]
},
"stage": {
"dtype": "int32",
"shape": [
1
],
"names": [
"stage"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
``` |